2 citations · 4 across the 18 of their papers we have counts for
8 papers · 1 filter
On the integrability of hybrid Hamiltonian systems
Asier López-Gordón, Leonardo J. Colombo
A hybrid system is a system whose dynamics are controlled by a mixture of both continuous and discrete transitions. The integrability of Hamiltonian systems is often identified wit…
Virtual Holonomic and Nonholonomic Constraints on Lie groups
A. Anahory Simoes, A. Bloch, L. Colombo +1
This paper develops a geometric framework for virtual constraints on Lie groups, with emphasis on mechanical systems modeled as affine connection systems. Virtual holonomic and vir…
Nonholonomic reduction for mechanical systems with collisions
Álvaro Rodríguez Abella, Leonardo J. Colombo
This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of…
Implicit Nonholonomic Mechanics with Collisions
Álvaro Rodríguez Abella, Leonardo Colombo
In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian syst…
Optimal Control of Incompressible Ideal Flows with Obstacle Avoidance
Alexandre Anahory Simoes, Anthony Bloch, Leonardo Colombo
It was shown in \cite{bloch2000optimal} that an optimal control formulation for incompressible ideal fluid flow yields Euler's equations. In this paper, we consider a variational o…
Reduction of Necessary Conditions for the Variational Collision Avoidance Problem
Jacob R. Goodman, Leonardo J. Colombo
In this work, we study the reduction by a Lie group of symmetries of variational collision avoidance probelms of multiple agents evolving on a Riemannian manifold and derive necess…
Reduction of Sufficient Conditions in Variational Obstacle Avoidance Problems
Jacob R. Goodman, Leonardo J. Colombo
This paper studies sufficient conditions in a variational obstacle avoidance problem on complete Riemannian manifolds. That is, we minimize an action functional, among a set of adm…
On the Geometry of Virtual Nonlinear Nonholonomic Constraints
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic syst…